Open AccessAn Intelligent Obstacle Avoidance Method in Unmanned Driving
Author(s) -
Jinze Li,
Qinrui Liu,
Dong Hui,
Moran Wu
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1769/1/012036
Subject(s) - obstacle avoidance , obstacle , collision avoidance , collocation (remote sensing) , kinematics , computer science , nonlinear system , control theory (sociology) , collocation method , control engineering , artificial intelligence , mathematical optimization , collision , robot , mathematics , engineering , mobile robot , physics , control (management) , classical mechanics , differential equation , mathematical analysis , ordinary differential equation , quantum mechanics , machine learning , political science , law , computer security
This paper proposes an intelligent obstacle avoidance method in unmanned driving. This method first establishes a simplified model for the obstacle avoidance problem in unmanned driving, and constrains the car from kinematics, physics, travelable area, and critical collision. Then list the equations and uses the direct collocation method to discrete the equation. The problem is turned into a nonlinear programming problem.